ES2851235T3 - Laser sensor with integrated turning mechanism - Google Patents
Laser sensor with integrated turning mechanism Download PDFInfo
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- ES2851235T3 ES2851235T3 ES13888136T ES13888136T ES2851235T3 ES 2851235 T3 ES2851235 T3 ES 2851235T3 ES 13888136 T ES13888136 T ES 13888136T ES 13888136 T ES13888136 T ES 13888136T ES 2851235 T3 ES2851235 T3 ES 2851235T3
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- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
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- 239000000523 sample Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
- G01B11/007—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines feeler heads therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/14—Rotary member or shaft indexing, e.g., tool or work turret
- Y10T74/1494—Locking means
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Sensor láser con mecanismo de giro integrado que comprende: una cámara (1); un láser (2); y un chasis (3) configurado para girar sobre su propio eje (4); que dispone de un mecanismo de giro indexado que comprende, a su vez: un conjunto motorizado (14), que consiste en un motor de giro (5) situado en un eje paralelo al eje de giro (4), y conectado con dicho eje de giro (4) a través de un engranaje (11); y un conjunto motorizado (6) que consiste en un motor de enclavamiento (8) alojado en el interior del eje (4) en un soporte (9); y donde el soporte (9) comprende inferiormente unos cilindros de enclavamiento (10) y un husillo (13) acoplado a dicho soporte (9) de tal forma que el enclavamiento se produce por contacto de unas esferas alojadas en el chasis (3) y los cilindros (10) adosados en el inferior del soporte (9).Laser sensor with integrated turning mechanism comprising: a camera (1); a laser (2); and a chassis (3) configured to rotate about its own axis (4); that has an indexed rotation mechanism that comprises, in turn: a motorized assembly (14), consisting of a rotation motor (5) located on an axis parallel to the axis of rotation (4), and connected to said axis of rotation (4) through a gear (11); and a motorized assembly (6) consisting of an interlocking motor (8) housed inside the shaft (4) in a support (9); and where the support (9) comprises at the bottom some locking cylinders (10) and a spindle (13) coupled to said support (9) in such a way that the locking is produced by contact of some spheres housed in the chassis (3) and the cylinders (10) attached to the bottom of the support (9).
Description
DESCRIPCIÓNDESCRIPTION
Sensor láser con mecanismo de giro integradoLaser sensor with integrated turning mechanism
La presente invención tiene como objeto un sensor láser con mecanismo de giro integrado, cuya función principal es permitir el giro del mismo sobre su propio eje de forma precisa, para alcanzar y mantener la orientación más adecuada para el escaneo 3D de zonas de la superficie de una pieza a analizar y que hasta ahora no era posible escanear.The object of the present invention is a laser sensor with an integrated rotation mechanism, whose main function is to allow it to rotate precisely about its own axis, to achieve and maintain the most suitable orientation for 3D scanning of areas of the surface of the a piece to analyze and that until now it was not possible to scan.
Estado de la técnicaState of the art
Es conocido en el ámbito de la medición de precisión, el uso de escáneres 3D, que funcionan mediante la proyección de una luz láser, para obtener una serie de imágenes a través de una cámara, que se posiciona alrededor de la pieza a medir mediante un movimiento de giro indexado. Para alcanzar todos los puntos posibles en el escaneado de una superficie, es necesario que el escáner esté montado sobre el extremo final de una máquina compuesta por una serie de brazos unidos mediante elementos de traslación o de giro que permitan llevar a dicho escáner a todos los puntos posibles de la superficie a medir. Es necesario posicionar el sensor láser 3D mediante estos elementos articulados, de manera que mantenga cierta orientación respecto a la línea seguida al escanear superficies, para llegar a zonas de difícil acceso sin necesidad de mover la pieza, la máquina u otros componentes.It is known in the field of precision measurement, the use of 3D scanners, which work by projecting a laser light, to obtain a series of images through a camera, which is positioned around the piece to be measured by means of a indexed turning movement. To reach all possible points in the scanning of a surface, it is necessary for the scanner to be mounted on the end end of a machine composed of a series of arms joined by means of translation or rotation elements that allow said scanner to carry all the devices. possible points on the surface to be measured. It is necessary to position the 3D laser sensor by means of these articulated elements, so that it maintains a certain orientation with respect to the line followed when scanning surfaces, to reach areas that are difficult to access without having to move the part, the machine or other components.
Ejemplo de esto es la patente USRE35510 que describe un cabezal con palpador en dirección radial que permite girarlo a diferentes posiciones indexadas gracias al encaje entre un conjunto de esferas y cilindros.An example of this is patent USRE35510, which describes a head with a probe in a radial direction that allows it to be rotated to different indexed positions thanks to the fit between a set of spheres and cylinders.
La patente US5735180 se refiere a dos cuerpos que pueden girar uno en relación con el otro consiguiendo distintas posiciones angulares, gracias a que los cilindros de uno de los cuerpos encajan en las muescas del otro cuerpo, y para realizar este giro es necesario que se separen axialmente. La patente WO2009106833A2 consiste en dos partes que rotan entre sí en posiciones angulares, gracias al encaje entre diferentes acoples en cada una de ellas. La patente US5084981 se refiere a un mecanismo de indexado que permite girar angularmente un cuerpo respecto a otro, contando con un cuerpo intermedio que puede girar libremente en relación con los otros dos. Entre todos los cuerpos existe un conjunto de elementos que permiten enclavar los cuerpos en diferentes posiciones, pueden ser dientes de engranajes o superficies convergentes (esferas) que encajen con un grupo de 3 o más elementos, como cilindros. Puede llevar uno o dos motores que mediante engranajes permiten girar los cuerpos a las posiciones necesarias. La patente US5806200 es sobre un cabezal con palpador, con dos ejes longitudinales, el segundo de los cuales puede ajustarse en diferentes ángulos fijos. Las patentes US6854195B2, US7213344B2, US7281433B2 y US7415775B2 se refieren a palpadores con diferentes ángulos de giro.Patent US5735180 refers to two bodies that can rotate one in relation to the other achieving different angular positions, thanks to the fact that the cylinders of one of the bodies fit into the notches of the other body, and to perform this rotation it is necessary that they separate axially. Patent WO2009106833A2 consists of two parts that rotate with each other in angular positions, thanks to the fit between different couplings in each of them. Patent US5084981 refers to an indexing mechanism that allows one body to rotate angularly with respect to another, having an intermediate body that can rotate freely in relation to the other two. Among all bodies there is a set of elements that allow the bodies to be interlocked in different positions, they can be gear teeth or convergent surfaces (spheres) that fit with a group of 3 or more elements, such as cylinders. It can carry one or two motors that by means of gears allow the bodies to rotate to the necessary positions. Patent US5806200 is on a probe head, with two longitudinal axes, the second of which can be adjusted at different fixed angles. Patents US6854195B2, US7213344B2, US7281433B2 and US7415775B2 refer to probes with different angles of rotation.
Finalmente el solicitante conoce de la existencia del documento CN202304767U, que divulga un dispositivo de medición de contorno tridimensional sobre la base de múltiples sensores. Comprende una placa base, una plataforma en movimiento vertical, una mesa de trabajo y componentes de medición óptica. Cada componente de medición óptica comprende un láser, una cámara y un soporte de la cámara. El campo visual y los aumentos a utilizar se ajustan de acuerdo con las características de la forma de la superficie de la pieza a medir, y el dispositivo de medición de contorno tridimensional es adecuado para la medición de superficies curvas complicadas de paletas, engranajes cónicos y similares, que no se pueden medir con eficacia por el método convencional.Finally, the applicant is aware of the existence of document CN202304767U, which discloses a three-dimensional contour measurement device based on multiple sensors. It comprises a base plate, a vertically moving platform, a work table, and optical measurement components. Each optical measurement component comprises a laser, a camera, and a camera holder. The field of view and the magnifications to be used are adjusted according to the characteristics of the shape of the surface of the workpiece to be measured, and the three-dimensional contour measuring device is suitable for the measurement of complicated curved surfaces of vanes, bevel gears and similar, which cannot be measured effectively by the conventional method.
El presente documento, se diferencia frente a dicho documento chino, en que se basa en la inclusión de unos medios que permitan posicionar el sensor láser de tal forma que se mantenga la orientación necesaria para facilitar el escaneo en 3D, que por la propia geometría de la pieza, no eran accesibles para un escaneado eficaz.This document differs from said Chinese document, in that it is based on the inclusion of means that allow positioning the laser sensor in such a way that the necessary orientation is maintained to facilitate 3D scanning, which due to the geometry of the the part, were not accessible for effective scanning.
Por otra parte, el documento GB2335274 describe un mecanismo de indexación para activar el desplazamiento angular discreto de un primer cuerpo con respecto a un segundo cuerpo, que se diferencia frente a la invención aquí preconizada, en que comprende una estructura diferente que comprende el soporte y al menos un husillo, cuya principal ventaja es aumentar la repetitividad en el enclavamiento, problema que dicho documento inglés no soluciona.On the other hand, document GB2335274 describes an indexing mechanism to activate the discrete angular displacement of a first body with respect to a second body, which differs from the invention advocated here, in that it comprises a different structure comprising the support and at least one spindle, the main advantage of which is to increase interlocking repeatability, a problem that said English document does not solve.
Mientras tanto, el documento US 2012105867 describe un dispositivo de medición que se compone de una unidad de proyección y medición e incluye una unidad de rotación que puede rotar un objeto en dos direcciones. Además de eso, el dispositivo tiene una unidad de rotación de patrón, que está conectada a la unidad de proyección, que permite rotar el patrón alrededor de la unidad de rotación del objeto. El hecho de que exista un único motor para un eje de rotación, en la unidad de proyección de dispositivo asociada con el sensor láser, produce un mecanismo impreciso y poco fiable.Meanwhile, document US 2012105867 describes a measuring device that is composed of a projection and measurement unit and includes a rotation unit that can rotate an object in two directions. Besides that, the device has a pattern rotation unit, which is connected to the projection unit, which allows to rotate the pattern around the object rotation unit. The fact that there is only one motor for a rotary axis, in the device projection unit associated with the laser sensor, produces an imprecise and unreliable mechanism.
La falta de fiabilidad en el mecanismo de giro indexado se soluciona en la patente de invención GB 2335274. Esta patente describe un mecanismo de indexación que es más fiable y preciso, gracias a la adición de dos ejes de rotación paralelos asociados a dos motores de rotación. Estos motores se vinculan entre sí por un sistema de transmisión complejo mediante un elemento de rotación intermedio. Este elemento complica y aumenta significativamente el coste del mecanismo, dando como resultado una solución poco interesante debido a su complejidad.The lack of reliability in the indexed rotation mechanism is solved in the patent of invention GB 2335274. This patent describes an indexing mechanism that is more reliable and precise, thanks to the addition of two parallel rotation axes associated with two rotation motors . These engines are linked together by a complex transmission system by means of an intermediate rotating element. This element complicates and significantly increases the cost of the mechanism, resulting in an uninteresting solution due to its complexity.
Descripción de la invenciónDescription of the invention
El problema técnico que resuelve la presente invención es conseguir posicionar un sensor láser 3D de tal forma que se mantenga una cierta orientación para escanear zonas de difícil acceso, sin necesidad de mover la pieza analizada, u otros componentes que se empleen en dicho procedimiento. Para ello, el sensor láser con mecanismo de giro integrado, objeto de la presente invención está caracterizado esencialmente por comprender un sensor láser 3D compuesto por un emisor láser y una cámara receptora colocadas sobre un chasis en un ángulo adecuado para captar la imagen de las piezas a medir. Este chasis, además, se acopla con una máquina de medición por coordenadas, con un brazo motorizado, o con cualquier elemento articulado que sitúe al sensor en diferentes posiciones respecto de la pieza a escanear.The technical problem solved by the present invention is to be able to position a 3D laser sensor in such a way that a certain orientation is maintained to scan hard-to-reach areas, without the need to move the analyzed part, or other components that are used in said procedure. To this end, the laser sensor with an integrated turning mechanism, object of the present invention, is essentially characterized by comprising a 3D laser sensor composed of a laser emitter and a receiving camera placed on a chassis at a suitable angle to capture the image of the parts. to measure. This chassis is also coupled with a coordinate measuring machine, with a motorized arm, or with any articulated element that places the sensor in different positions with respect to the piece to be scanned.
El mecanismo de giro integrado está configurado para permitir el giro del chasis respecto de su propio eje. El mecanismo de giro se compone de dos motorizados, un encórder y un enclavamiento o acoplamiento. El elemento base del primer motorizado es un motor situado en un eje paralelo y no coincidente con el eje de giro y que transmite al sensor un movimiento de rotación respecto de dicho eje de giro. El elemento base del segundo motorizado es un motor de enclavamiento, colocado dentro del eje de giro y que está configurado para enclavar y desenclavar el chasis.The integrated swivel mechanism is configured to allow the chassis to rotate about its own axis. The turning mechanism is made up of two motorized ones, an encoder and an interlocking or coupling. The base element of the first motorized motor is a motor located on a parallel axis and not coincident with the axis of rotation and that transmits to the sensor a movement of rotation with respect to said axis of rotation. The base element of the second motorized unit is an interlocking motor, placed inside the axis of rotation and which is configured to interlock and unlock the chassis.
Finalmente, dentro del chasis existe un conjunto de cilindros y esferas que permiten la colocación del chasis en diferentes posiciones angulares con precisión y alta repetitividad. Gracias al motor de enclavamiento, estos cilindros y esferas pueden separarse y encajarse produciéndose el enclavamiento y desenclavamiento del chasis. Finally, inside the chassis there is a set of cylinders and spheres that allow the chassis to be placed in different angular positions with precision and high repeatability. Thanks to the interlocking motor, these cylinders and spheres can be separated and nested, resulting in the interlocking and unlocking of the chassis.
Gracias a su especial diseño, el sensor aquí preconizado permite y compatibiliza el uso de elementos articulados más sencillos, ya que el propio sensor aporta un giro adicional que hace mantener al escáner la orientación necesaria para facilitar el escaneo en 3D, que habilita el escaneo de zonas que por la propia geometría de la pieza, no eran accesibles para un escaneado eficaz.Thanks to its special design, the sensor recommended here allows and makes compatible the use of simpler articulated elements, since the sensor itself provides an additional rotation that makes the scanner maintain the necessary orientation to facilitate 3D scanning, which enables the scanning of areas that, due to the geometry of the piece, were not accessible for effective scanning.
Breve descripción de las figurasBrief description of the figures
A continuación se pasa a describir de manera muy breve una serie de dibujos que ayudan a comprender mejor la invención y que se relacionan expresamente con una realización de dicha invención que se presenta como un ejemplo no limitativo de ésta.A series of drawings that help to better understand the invention and that expressly relate to an embodiment of said invention that is presented as a non-limiting example of this, will now be described very briefly.
FIG. 1. Muestra una primera vista en sección del sensor aquí preconizado.FIG. 1. Shows a first sectional view of the sensor recommended here.
FIG. 2. Muestra una segunda vista en perfil del mecanismo que forma parte del sensor, objeto de la presente invención.FIG. 2. Shows a second view in profile of the mechanism that is part of the sensor, object of the present invention.
Realización preferente de la invenciónPreferred embodiment of the invention
En las figuras adjuntas se muestra una realización preferida de la invención. Más concretamente, el sensor láser con mecanismo de giro integrado, objeto de la presente invención está caracterizado esencialmente por comprender un primer mecanismo de giro indexado, unido a un dispositivo de captación de imagen o cámara (1) y un láser (2), diseñados y encargados de la digitalización de la imagen; todo ello, solidariamente acoplado a un chasis (3) capaz de girar sobre su propio eje, y protegido por una carcasa.A preferred embodiment of the invention is shown in the attached figures. More specifically, the laser sensor with an integrated rotation mechanism, object of the present invention, is essentially characterized by comprising a first indexed rotation mechanism, linked to an image capture device or camera (1) and a laser (2), designed and those in charge of digitizing the image; all this, jointly coupled to a chassis (3) capable of rotating on its own axis, and protected by a casing.
El mecanismo de giro indexado está compuesto esencialmente de al menos dos motorizados, uno principal (14) y otro secundario (6); un encórder (7) y un sistema de enclavamiento y/o acoplamiento.The indexed rotation mechanism is essentially composed of at least two motorized ones, one main (14) and the other secondary (6); an encoder (7) and an interlocking and / or coupling system.
El motorizado principal (14) es el encargado de hacer girar el conjunto, mediante el motor de giro (5), alrededor del eje de giro (4), el cual alberga el motorizado secundario (6) encargado del enclavamiento del sistema en cada posición angular.The main motor (14) is in charge of making the assembly rotate, by means of the rotation motor (5), around the rotation axis (4), which houses the secondary motor (6) in charge of interlocking the system in each position. angular.
El motorizado principal (14) incorpora un encórder (7) en su mismo eje, y cuya función es controlar su posición exacta; y un juego de engranajes (11) que le permite girar respecto del eje de giro (4).The main motorized (14) incorporates an encoder (7) on its same axis, and whose function is control your exact position; and a set of gears (11) that allows it to rotate with respect to the rotation axis (4).
Con el sistema de enclavamiento liberado, se hace girar el sensor mediante el motorizado principal (14) hasta la posición elegida detectada mediante el uso del encórder (7). El sistema de enclavamiento es el encargado de posicionar correctamente el sensor con precisión.With the interlocking system released, the sensor is rotated by the main motor (14) to the chosen position detected by using the encoder (7). The interlocking system is responsible for correctly positioning the sensor with precision.
El elemento motorizado secundario (6) comprende en su parte superior un motor de enclavamiento (8) alojado en un primer soporte externo (9) del sensor láser, en donde en su parte inferior se sitúan unos cilindros de enclavamiento (10) insertados en un segundo soporte (12). Y donde finalmente incorpora un husillo (13) en su interior acoplado al primer soporte externo (9) del sensor láser mediante un prisionero, convirtiendo el movimiento de giro del motor en un movimiento lineal que permite liberar o enclavar el eje de giro (4).The secondary motorized element (6) comprises in its upper part an interlocking motor (8) housed in a first external support (9) of the laser sensor, where in its lower part there are interlocking cylinders (10) inserted in a second support (12). And where it finally incorporates a spindle (13) in its interior coupled to the first external support (9) of the laser sensor by means of a prisoner, converting the rotational movement of the motor into a linear movement that allows freeing or locking the axis of rotation (4) .
El enclavamiento se produce a través del contacto de unas esferas alojadas en el chasis (3) y los cilindros (10) adosados a la parte inferior del primer soporte (9) del sensor láser, ya que al girar el motor de enclavamiento (8) junto con el husillo (13), hace que el conjunto de los cilindros (10) suba, ejerciendo una presión suficiente para mantener el contacto con las esferas y enclavar la posición. Así, los cilindros de enclavamiento inferiores (10) y las esferas pueden separarse y encajar entre sí para bloquear y desbloquear el chasis (3). La forma geométrica de estos elementos hace que el contacto se produzca en un punto concreto y siempre el mismo, consiguiendo así una repetitividad óptima. Controlando el número de esferas y el número de pares de cilindros colocados radialmente, se puede determinar el número de posiciones angulares que puede adoptar el sistema.The interlocking occurs through the contact of some spheres housed in the chassis (3) and the cylinders (10) attached to the lower part of the first support (9) of the laser sensor, since when the interlocking motor (8) rotates together with the spindle (13), it makes the set of cylinders (10) rise, exerting sufficient pressure to maintain contact with the spheres and lock the position. Thus, the lower locking cylinders (10) and the spheres can be separated and fit together to lock and unlock the chassis (3). The geometric shape of these elements makes contact occur at a specific point and always the same, thus achieving optimum repeatability. By controlling the number of spheres and the number of pairs of cylinders positioned radially, the number of angular positions that the system can take can be determined.
En la parte superior del eje de giro (4) se acopla un conector configurado para la conexión del sistema con el cabezal de la máquina o brazo que maneja un sistema de digitalizado, distribuyendo y redireccionando las señales del exterior y del control electrónico del sistema completo.In the upper part of the axis of rotation (4) a connector configured to connect the system with the head of the machine or arm that manages a digitizing system is coupled, distributing and redirecting the signals from the outside and the electronic control of the complete system .
El sensor aquí presentado incorpora unos medios electrónicos en forma de placas de control o circuitos electrónicos, instalados en el interior de la carcasa para ejercer el control del encórder (7) y del resto de elementos susceptibles de ser controlados, tales como motores_(5,8), láser (2) y cámara (1).The sensor presented here incorporates electronic means in the form of control boards or electronic circuits, installed inside the casing to control the encoder (7) and the rest of the elements that can be controlled, such as like motors_ (5,8), laser (2) and camera (1).
En una realización práctica no limitativa, el sensor aquí preconizado incorporará un sistema para la monitorización de la temperatura y/o un sistema para la monitorización de consumo de energía, y cuya finalidad, en ambos casos, será la de garantizar un correcto funcionamiento del sistema.In a non-limiting practical embodiment, the sensor recommended here will incorporate a system for monitoring the temperature and / or a system for monitoring energy consumption, and whose purpose, in both cases, will be to guarantee the correct operation of the system. .
Los medios electrónicos permiten mediante una serie de comandos, controlar y asegurar el movimiento y la posición del sistema así como el escaneado de las piezas. Las fases para el movimiento del sistema son: accionamiento del motorizado secundario (6) para liberación del eje, accionamiento del motorizado principal (14) para giro del sensor hasta la posición deseada, controlada mediante el encórder (7) y accionamiento del motorizado secundario (6) para el enclavamiento del eje. Electronic means allow, through a series of commands, to control and ensure the movement and position of the system as well as the scanning of the parts. The phases for the movement of the system are: actuation of the secondary motor (6) to release the shaft, actuation of the main motor (14) to rotate the sensor to the desired position, controlled by the encoder (7) and actuation of the secondary motor ( 6) for locking the shaft.
Claims (6)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/ES2013/070436 WO2014207266A1 (en) | 2013-06-28 | 2013-06-28 | Laser sensor with a built-in rotary mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| ES2851235T3 true ES2851235T3 (en) | 2021-09-03 |
Family
ID=52112464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES13888136T Active ES2851235T3 (en) | 2013-06-28 | 2013-06-28 | Laser sensor with integrated turning mechanism |
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|---|---|
| US (1) | US8921788B1 (en) |
| EP (1) | EP2884225B1 (en) |
| ES (1) | ES2851235T3 (en) |
| WO (1) | WO2014207266A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11950745B2 (en) | 2014-12-17 | 2024-04-09 | Omachron Intellectual Property Inc. | Surface cleaning apparatus |
| CN107894661B (en) * | 2017-12-19 | 2024-02-13 | 曾林旺 | Three-dimensional laser scanning head |
| CN112504142A (en) * | 2020-11-25 | 2021-03-16 | 安徽锦希自动化科技有限公司 | Part thickness detection device applied to automatic slicing machine |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60228910A (en) * | 1984-04-27 | 1985-11-14 | Nissan Motor Co Ltd | Surface defect inspector |
| EP0392699B1 (en) | 1989-04-14 | 1993-09-22 | Renishaw plc | Probe head |
| GB9114946D0 (en) | 1991-07-11 | 1991-08-28 | Renishaw Metrology Ltd | Probe head |
| GB9119304D0 (en) * | 1991-09-10 | 1991-10-23 | Renishaw Transducer Syst | Method and apparatus for calibration of angular displacement |
| JPH05322527A (en) * | 1992-05-15 | 1993-12-07 | Kanto Auto Works Ltd | Three-dimensional shape measuring device |
| GB9410989D0 (en) | 1994-06-01 | 1994-07-20 | Renishaw Plc | Indexing mechanism |
| DE29612475U1 (en) | 1996-07-18 | 1996-09-19 | Fa. Carl Zeiss, 89518 Heidenheim | Probe |
| GB9805372D0 (en) * | 1998-03-14 | 1998-05-06 | Renishaw Plc | Indexing mechanism |
| EP1443302B2 (en) | 2003-01-29 | 2015-09-16 | Tesa Sa | Steerable feeler head |
| EP1617171B1 (en) | 2004-07-12 | 2007-12-12 | Tesa S.A. | Feeler for measuring three dimensions |
| DE602004010899T2 (en) | 2004-07-16 | 2009-01-02 | Tesa Sa | Steerable stylus |
| DE602004011544T2 (en) | 2004-12-01 | 2009-02-05 | Tesa Sa | Motorized and orientable measuring head |
| US8996172B2 (en) * | 2006-09-01 | 2015-03-31 | Neato Robotics, Inc. | Distance sensor system and method |
| CN201107639Y (en) * | 2007-11-30 | 2008-08-27 | 华南理工大学 | Large-sized producing workpiece geometric measuring apparatus using machine vision |
| GB0803666D0 (en) | 2008-02-28 | 2008-04-09 | Renishaw Plc | Indexer |
| CN103229018A (en) * | 2010-10-27 | 2013-07-31 | 株式会社尼康 | Profile measuring apparatus, method for manufacturing structure, and structure manufacturing system |
| CN202304767U (en) | 2011-10-12 | 2012-07-04 | 西安交通大学 | Three-dimensional outline measurement device based on multiple sensors |
-
2013
- 2013-06-28 WO PCT/ES2013/070436 patent/WO2014207266A1/en active Application Filing
- 2013-06-28 EP EP13888136.2A patent/EP2884225B1/en active Active
- 2013-06-28 ES ES13888136T patent/ES2851235T3/en active Active
- 2013-08-01 US US13/957,024 patent/US8921788B1/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| EP2884225B1 (en) | 2020-11-18 |
| EP2884225A1 (en) | 2015-06-17 |
| US8921788B1 (en) | 2014-12-30 |
| WO2014207266A1 (en) | 2014-12-31 |
| EP2884225A4 (en) | 2015-08-05 |
| US20150000464A1 (en) | 2015-01-01 |
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